simple_execute_ref_server.cpp
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34 
36 
38 #include <actionlib/TestAction.h>
39 #include <ros/ros.h>
40 
41 namespace actionlib
42 {
43 
45 {
46 public:
48 
50 
51 private:
54 
55  void executeCallback(const TestGoalConstPtr & goal);
56 };
57 
58 } // namespace actionlib
59 
60 using namespace actionlib;
61 
63 : as_(nh_, "reference_action", boost::bind(&SimpleExecuteRefServer::executeCallback, this,
64  _1), false)
65 {
66  as_.start();
67 }
68 
69 void SimpleExecuteRefServer::executeCallback(const TestGoalConstPtr & goal)
70 {
71  ROS_DEBUG_NAMED("actionlib", "Got a goal of type [%u]", goal->goal);
72  switch (goal->goal) {
73  case 1:
74  ROS_DEBUG_NAMED("actionlib", "Got goal #1");
75  as_.setSucceeded(TestResult(), "The ref server has succeeded");
76  break;
77  case 2:
78  ROS_DEBUG_NAMED("actionlib", "Got goal #2");
79  as_.setAborted(TestResult(), "The ref server has aborted");
80  break;
81  case 4:
82  {
83  ROS_DEBUG_NAMED("actionlib", "Got goal #4");
84  ros::Duration sleep_dur(.1);
85  for (unsigned int i = 0; i < 100; i++) {
86  sleep_dur.sleep();
87  if (as_.isPreemptRequested()) {
88  as_.setPreempted();
89  return;
90  }
91  }
92  as_.setAborted();
93  break;
94  }
95  default:
96  break;
97  }
98 }
99 
100 int main(int argc, char ** argv)
101 {
102  ros::init(argc, argv, "ref_server");
103 
104  SimpleExecuteRefServer server;
105 
106  ros::spin();
107 
108  return 0;
109 }
int main(int argc, char **argv)
bool sleep() const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
void setSucceeded(const Result &result=Result(), const std::string &text=std::string(""))
Sets the status of the active goal to succeeded.
void start()
Explicitly start the action server, used if auto_start is set to false.
#define ROS_DEBUG_NAMED(name,...)
void setPreempted(const Result &result=Result(), const std::string &text=std::string(""))
Sets the status of the active goal to preempted.
void executeCallback(const TestGoalConstPtr &goal)
ServerGoalHandle< TestAction > GoalHandle
bool isPreemptRequested()
Allows polling implementations to query about preempt requests.
ROSCPP_DECL void spin()
Encapsulates a state machine for a given goal that the user can trigger transitions on...
void setAborted(const Result &result=Result(), const std::string &text=std::string(""))
Sets the status of the active goal to aborted.
SimpleActionServer< TestAction > as_


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep, Mikael Arguedas
autogenerated on Tue Sep 3 2019 03:41:41